Combine two existing non-static models

[filipposanfilippo]

How can I combine two existing non-static models in vrep? The documentation says that I can use force sensors to integrate them but exactly how should I do that?

[coppelia]

Hello,

if you have two non-static shapes, then you can use a force sensor to link them rigidly, like:

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shape1 --> forceSensor --> shape2

But if you have more complex items such as models, it is a bit more difficult, depending on where they need to be rigidly connected. E.g. with following two models:

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shapeA1 --> jointA --> shapeA2
shapeB1 --> jointB --> shapeB2

if you want to connect them at the base (easy), then you can do:

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shapeA1 --> jointA --> shapeA2
        --> forceSensor --> shapeB1 --> jointB --> shapeB2

If you want to connect them at the tip, it is more difficult. You can either rearrange the model's hierarchy, so that the models are built upside-down and you can connect them again at the base.

Or you have to use a loop-closure, like:

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shapeA1 --> jointA --> shapeA2 --> loopClosureDummyA
shapeB1 --> jointB --> shapeB2 --> forceSensor --> loopClosureDummyB

where loopClosureDummyA and loopClosureDummyB are linked via a dynamic overlap constraint.

Cheers